That second set of arms is reminding me of the Early Bronco arms slightly.
Could you just run some longer arms to help with the flex? I"m assuming that would help you gain some flex without completely redesigning the suspension.
I agree a good spring/shock combo is first. Without a spring that can handle the droop/stuff it's just not going to work as good.
We have tested arms 200mm[8"] longer with standard bushes, moving the chassis mount backward, and found we gained an extra 7" of free travel by doing this.
So if we can make longer arms, and use the X link as an example, but seperate per side, and "control" the movement, we should be able to use the extra length, without the down sides of a 4 link, because the amount of flex is more important in the front, than the amount of "travel" and with alot of 4 or 3 links, they tend to flex more before the rear does, which is nomrally the opposite of what you require.
We have also played with longer rear lower arms, which free the rear up as well, and improve rear traction or "squat" to push the tyre into the ground.
From all acounts, the x link drives in between standard set up and 4 link, for sway, though I have not driven a vehicle with this set up, and would be hesitant to got to a single front mounting to keep the diff from dissapearing out the back while on the road.
The hilux pictured has a 80 front housing and steering box to convert it to SAS.